Multi-Directional X-Ray Imaging System

ABSTRACT

An imaging system and methods including a gantry defining a bore and an imaging axis extending through the bore, and at least one support member that supports the gantry such that the imaging axis has a generally vertical orientation, where the gantry is displaceable with respect to the at least one support member in a generally vertical direction. The imaging system may be configured to obtain a vertical imaging scan (e.g., a helical x-ray CT scan), of a patient in a weight-bearing position. The gantry may be rotatable between a first position, in which the gantry is supported such that the imaging axis has a generally vertical orientation, and a second position, such that the imaging axis has a generally horizontal orientation. The gantry may be displaceable in a horizontal direction and the system may perform a horizontal scan of a patient or object positioned within the bore.

RELATED APPLICATIONS

This application is a continuation-in-part of U.S. application Ser. No.15/359,997, filed on Nov. 23, 2016, which is a continuation-in-part ofU.S. application Ser. No. 13/916,869, filed on Jun. 13, 2013, whichclaims the benefit of priority to U.S. Provisional Application No.61/659,609 filed on Jun. 14, 2012, the entire contents of which areincorporated herein by reference.

BACKGROUND

Conventional medical imaging devices, such as computed tomography (CT)and magnetic resonance (MR) imaging devices, are typically large, fixedbore devices. The patient must enter the device from the front or rearof the device in a lying position. These devices are limited in thetypes of imaging operations that may be performed.

SUMMARY

Embodiments include an imaging system having a gantry defining a centralimaging bore and an imaging axis extending through the bore, the gantrycomprising at least one imaging component for obtaining images of anobject located within the bore, and at least one support member thatsupports the gantry such that the imaging axis has a generally verticalorientation, where the gantry is displaceable with respect to the atleast one support member in a generally vertical direction.

In various embodiments, the gantry comprises a generally O-shapedhousing having an internal cavity, and the imaging component(s), such asan x-ray source and/or x-ray detector, are rotatable around the gantrywithin the internal cavity. The imaging system may be configured toobtain a vertical imaging scan, such as a helical x-ray CT scan, of apatient in a weight bearing standing position.

In various embodiments, the gantry of the imaging system is rotatablewith respect to the at least one support member between a firstposition, in which the gantry is supported such that the imaging axishas a generally vertical orientation, and a second position, in whichthe gantry is supported such that the imaging axis has a generallyhorizontal orientation. The gantry and the at least one support membermay be displaceable in a generally horizontal direction relative to anobject positioned within the bore. The system may thus perform ahorizontal scan of a patient or object positioned within the bore.

In various embodiments, the gantry may be rotatable with respect to theat least one support member to a desired angle with respect to a tiltedaxis (i.e., an axis that is neither horizontal nor vertical). The gantrymay be displaced both vertically and horizontally to perform an imagingscan along the titled axis. The angle of the gantry with respect to thetilted axis may remain fixed during the scan.

In further embodiments, a method of imaging an object includespositioning an object within a central imaging bore of a gantrycomprising at least one imaging component for obtaining images of theobject, the gantry having an imaging axis extending through the bore ina generally vertical orientation, displacing the gantry in a generallyvertical direction with respect to the object, and obtaining image dataof the object using the at least one imaging component.

In various embodiments, the method may further include rotating thegantry from a generally vertical orientation to a generally horizontalorientation, and displacing the gantry in a relatively horizontaldirection relative to the object to perform an imaging scan. In variousembodiments, the method may further include rotating the gantry to anangle with respect to a tilted axis, and displacing the gantry in bothhorizontal and vertical directions to perform an imaging scan along thetilted axis.

Further embodiments include an imaging system including a gantry havingat least one imaging component for obtaining images of an objectpositioned within a bore of the gantry, the gantry having an imagingaxis extending through the bore, the imaging system further includingmeans for tilting the gantry to change an orientation of the imagingaxis, means for displacing the gantry in a generally vertical directionwith respect to the object, and means for obtaining image data of theobject using the at least one imaging component. The imaging system mayfurther include means for displacing the gantry in a generallyhorizontal direction with respect to the object.

BRIEF DESCRIPTION OF THE DRAWINGS

Other features and advantages of the present invention will be apparentfrom the following detailed description of the invention, taken inconjunction with the accompanying drawings of which:

FIG. 1A is a perspective view of an X-ray CT imaging system with avertically displaceable gantry ring in accordance with one embodiment ofthe invention.

FIG. 1B illustrates the imaging system of FIG. 1A with the gantry ringin a raised position.

FIG. 2 illustrates an embodiment imaging system imaging a patient in aweight-bearing standing position.

FIG. 3A illustrates an embodiment imaging system in which the gantry hasbeen pivoted from a vertical orientation to a horizontal orientation,with the gantry horizontally displaced from a table column and supporttable.

FIG. 3B illustrates the imaging system of FIG. 3A with the gantrytranslated in a horizontal direction (along z-axis) towards the tablecolumn and support table.

FIG. 3C illustrates the imaging system of FIG. 3A further translated ina horizontal direction (along z-axis) towards the table column andsupport table.

FIG. 4 illustrates the support table rotated 90 degrees on the tablecolumn.

FIG. 5A-5C illustrate an embodiment imaging system performing an imagingscan along a tilted axis.

FIG. 6 illustrates a plurality of components housed within the gantryaccording to one embodiment.

FIG. 7A is an exploded view of a gantry illustrating an outer shell, arotor and a bearing system according to one embodiment.

FIG. 7B is a perspective view of the assembled gantry.

FIG. 7C schematically illustrates the assembly of the gantry accordingto one embodiment.

FIGS. 8A-8C illustrate an embodiment x-ray CT imaging system performinga scan of a patient in a vertical direction.

FIGS. 9A-9C illustrate an embodiment x-ray CT imaging system performinga scan of a patient in a horizontal direction.

FIGS. 10A-10C illustrate an x-ray CT imaging system performing a scan ofa patient along a tilted axis.

FIGS. 11A-11C illustrate an x-ray CT imaging system having an imaginggantry supported by a pair of support columns and a cavity in a base ofthe imaging system configured to receive the gantry.

FIGS. 12A-12D illustrate an x-ray CT imaging system having an imaginggantry supported by a support column and a cavity in the floorconfigured to receive the gantry.

DETAILED DESCRIPTION

This application is related to U.S. application Ser. No. 12/576,681,filed Oct. 9, 2009, now U.S. Pat. No. 8,118,488, U.S. application Ser.No. 13/025,566, filed Feb. 11, 2011, U.S. application Ser. No.13/025,573, filed Feb. 11, 2011, U.S. application Ser. No. 13/441,555,filed Apr. 6, 2012, and U.S. Provisional Application No. 61/658,650,filed Jun. 12, 2012. The entire contents of all of these applicationsare hereby incorporated by reference for all purposes.

The various embodiments will be described in detail with reference tothe accompanying drawings. Wherever possible, the same reference numberswill be used throughout the drawings to refer to the same or like parts.References made to particular examples and implementations are forillustrative purposes, and are not intended to limit the scope of theinvention or the claims.

Referring to FIG. 1A, an imaging system 100 according to one embodimentof the invention is shown. The system 100 includes image collectioncomponents, such as a rotatable x-ray source and detector array orstationary magnetic resonance imaging components, that are housed withinthe gantry 40. The system 100 is configured to collect imaging data,such as, for example x-ray computed tomography (CT) or magneticresonance imaging (MRI) data, from an object located within the bore 116of the gantry 40, in any manner known in the medical imaging field.

The system 100 may include a base 102, which may be a stable,high-strength support structure having a generally flat top surface. Thebase 102 may be supported on a suitable weight-bearing surface, such ason the ground or on a floor of a building. At least one support column31, 33 may extend in a generally vertical direction from the base 102,and the gantry 40 may be attached to and supported above the base 102 bythe at least one support column 31, 33. In the embodiment shown in FIG.1A, two support columns 31, 33 (e.g., support posts or rails) aresupported by the base 102 and extend in a generally vertical directionfrom the top surface of the base 102. The support columns 31, 33 areeach attached to opposite sides of the gantry 40. The support columns31, 33 may be attached to opposite sides of the gantry by attachmentmechanisms 201, 203, as described in further detail below. It will beunderstood that more than two support columns (e.g., 3 or more), or asingle support column may support the gantry above the base 102 invarious embodiments. Also, in various embodiments, the base 102 may beomitted, and the at least one support column 31, 33 may be directlysupported on the ground or floor.

In further embodiments, the at least one support column 31, 33 may besupported by a ceiling, a wall or other support structure, and may behung or cantilevered from the support structure in a generally verticalorientation.

In various embodiments, the system 100 may be a fixed room (e.g., notmobile) imaging system. Alternatively, the system may be a mobile systemthat includes suitable means for transporting the entire system 100(e.g., a drive mechanism coupled to one or more wheels, casters,rollers, etc.). The system 100 may further include a table column 50 forsupporting one or more support tables, as described in further detailbelow.

As shown in FIG. 1A, the gantry 40 comprises a generally O-shapedstructure having a central imaging bore 116. The bore 116 defines acentral imaging axis 114. In various embodiments, the at least onesupport column 31, 33 may support the gantry 40 such that the imagingaxis 114 has a generally vertical orientation. By generally verticalorientation, the imaging axis 114 may be normal to the flat top surfaceof base 102 or other planar horizontal surface on which the system 100is supported (e.g., the ground or floor), and includes deviations up to45° from the normal orientation (e.g., the imaging axis 114 is orientedat no more than 45° relative to the horizontal top surface of base 102).

The gantry 40 may be displaceable relative to at least one supportcolumn 31, 33. In embodiments, the gantry 40 may be displaceable alongat least one dimension of the at least one support column 31, 33, suchas along a length of the at least one support column 31, 33. Inembodiments, the at least one support column 31, 33 may have a generallyvertical orientation, and the gantry 40 may be displaceable in agenerally vertical direction, such as the direction indicated by arrow112 in FIG. 1A. By generally vertical orientation, the direction ofdisplacement 112 may be normal to the flat top surface of base 102 orother planar horizontal surface on which the system 100 is supported(e.g., the ground or floor), and includes deviations up to 45° from thenormal orientation (e.g., the direction of gantry displacement 112 isoriented at an angle more than 45° relative to the horizontal topsurface of base 102).

The gantry 40 and the at least one support column 31, 33 may includemating features that enable the displacement of the gantry 40 relativeto the support column(s) 31, 33 in a generally vertical direction 112,while the gantry 40 is restricted from moving in other directionsrelative to the support column(s) 31, 33. In the embodiment of FIG. 1A,the support column 31, 33 may each include rail(s) 118 extending alongthe length of the support column 31, 33. The gantry 40, or in theembodiment shown in FIG. 1A, the attachment mechanisms 201, 203, mayinclude features that mate with the respective rails 118 to enable thedisplacement of the gantry 40. A first drive mechanism may drive thedisplacement (movement) of the gantry 40 relative to the supportmember(s) 31, 33. The first drive mechanism may comprise, for example, atraction drive, a gear system, a belt drive, a pulley, a drivewheel,etc., or various combinations thereof. The first drive mechanism may bemechanically coupled to and driven by one or more motor(s), which may belocated on the gantry 40 and/or on one or more support columns 31, 33. Acontroller may control the operation of the motorized drive mechanismand thereby control the displacement of the gantry 40. The controllermay receive position feedback signals indicative of the relativeposition of the gantry 40 and the one or more support columns 31, 33,such as from a linear encoder.

In embodiments, the gantry 40 may be vertically displaced alongsubstantially the entire length of the support columns 31, 33. FIG. 1Billustrates the system of FIG. 1A with the gantry 40 displaced along thedirection of arrow 112 to a height above the base 102 and floor. Inembodiments, the gantry 40 may be displaceable from a first positionproximate to the base 102 and floor of a room to a second positionproximate the ceiling of the room. In some embodiments, the gantry 40may be further displaceable into the ceiling, such as into a cavity orenclosure formed in the ceiling. Alternatively, or in addition, thegantry 40 may be displaceable into the base 102 and/or floor, such as ina cavity or enclosure formed in the base 102 and/or the floor. Therespective cavities or enclosures may include doors or panels that canbe closed to fully house the gantry within the cavity or enclosure. Inthis way, the gantry 40 may be moved completely out of the way andsafely stored when not in use. The support columns 31, 33 may also beretracted into the floor and/or ceiling, such as in a telescopingfashion, or otherwise removed, when the system is not in use.

The imaging components of the gantry 40 may obtain imaging data of anobject positioned within the bore 116 while the gantry 40 is displacedin a generally vertical direction to obtain a vertical scan of theobject. For an x-ray CT imaging system, for example, an x-ray source anddetector may rotate within the gantry 40 while the gantry is verticallydisplaced to provide a helical scan in a generally vertical orientation.In various embodiments, the system 100 may perform a helical scan of ahuman or animal patient in a weight bearing standing position.

Various examples of diagnostic imaging applications that may beperformed on a human or animal patient in a weight-bearing positionusing the present system include, without limitation:

-   -   Imaging the bones of a foot. The three-dimensional relationships        of the bones in the foot in a flatfoot deformity are difficult        to assess with standard radiographs. CT scans demonstrate these        relationships but are typically made in a non-weightbearing        mode. The use of a weightbearing CT or other imaging apparatus        may be useful in imaging the feet in patients with severe        flexible pesplanus deformities and to better define the        anatomical changes that occur.    -   Imaging of a limb (e.g. leg). Weight-bearing (CT) bilateral long        leg hip to ankle examination and non-weight bearing        cross-sectional imaging (CT) of the affected limb may be        performed on the hip, knee and ankle, for example, and may be        useful for determining variations in angulation and alignment        accuracy for diagnosis and/or surgical planning    -   Imaging of a spine. Weight bearing scanning (e.g., CT scanning)        may be useful for improvements in the accurate diagnosis of        degenerative spinal disorders by scanning a patient in the “real        life” standing position. By scanning in the standing position,        the spinal disc and facet joint compresses, which may enable        more specific and precise diagnosis of degenerative spine        disorders.    -   Imaging of a joint (e.g., knee). Weight bearing scanning (e.g.,        CT scanning) of the knee may enable more specific and precise        diagnosis of the patella-femoral kinematics and may also be        useful in surgical planning    -   Angiography. Weight bearing angiography (e.g., CT angiography)        may enable more accurate diagnosis, and may be used, for        example, to examine the pulmonary arteries in the lungs to rule        out pulmonary embolism, a serious but treatable condition.        Weight bearing angiography may also be used to visualize blood        flow in the renal arteries (those supplying the kidneys) in        patients with high blood pressure and those suspected of having        kidney disorders. Narrowing (stenosis) of a renal artery is a        cause of high blood pressure (hypertension) in some patients and        can be corrected. A special computerized method of viewing the        images makes renal CT angiography a very accurate examination.        This is also done in prospective kidney donors. Weight bearing        angiography may also be used to identify aneurysms in the aorta        or in other major blood vessels. Aneurysms are diseased areas of        a weakened blood vessel wall that bulges out—like a bulge in a        tire. Aneurysms are life-threatening because they can rupture.        Weight bearing angiography may also be used to identify        dissection in the aorta or its major branches. Dissection means        that the layers of the artery wall peel away from each        other—like the layers of an onion. Dissection can cause pain and        can be life-threatening. Weight bearing angiography may also be        used to identify a small aneurysm or arteriovenous malformation        inside the brain that can be life-threatening. Weight bearing        angiography may also be used to detect atherosclerotic disease        that has narrowed the arteries to the legs.

FIG. 2, for example, illustrates a patient 105 in a standing positionwithin an embodiment imaging system 100. The patient 105 is standing onthe base 102 within the bore 116 of the gantry 40. The system 100 may beused to perform an imaging scan of the patient 105 in a generallyvertical direction, as indicated by arrow 112. In embodiments, thesystem 100 may scan any portion of the patient's anatomy, including afull-body scan. The system 100 may also be used to perform a verticalscan of a patient in a sitting position or a reclined position.

In embodiments, the system 100 may include at least one patient/objectsupport structure 202 that may extend from the base 102 in a generallyvertical direction. The support structure 202 may be aligned with thebore 116. The support structure 202 may be made of a radiolucent (x-raytransparent) material. As shown in FIG. 2, a support structure 202 maybe radiolucent (x-ray transparent) vertical rigid post or plate that thepatient 105 may grab or sit on to help stabilize the patient throughoutthe scan. The support structure 202 may have handles or arm rests atvarying heights to help the patient lean against and stay motionlessduring the scan. The support structure 202 may also be a post with aradiolucent chair for people who have a hard time standing during ascan, or it may be two plates that sandwich the patient in a verticalstanding position to help the patient remain still during a scan.

The support structure 202 may be made entirely or partially of anyradiolucent material such as carbon fiber, etc.

In embodiments, the gantry 40 may be attached to the at least onesupport column 31, 33 such that the gantry 40 may pivot or tilt withrespect to the support column(s) 31, 33. As shown in FIG. 1A, forexample, the gantry 40 may be attached to the support columns 31, 33 byrespective attachment mechanisms 201, 203. The attachment mechanisms201, 203 may include a bearing assembly that allows the gantry 40 topivot with respect to the support columns 31, 33. In an alternativeembodiment, the gantry 40 may be directly attached to the supportcolumns 31, 33 (e.g., without a separate attachment mechanism 201, 203as shown in FIG. 1A) via a bearing assembly (not illustrated) thatenables the gantry 40 to pivot with respect to the support columns. Inembodiments, the gantry 40 may pivot at least about 45° relative to thesupport columns 31, 33. In preferred embodiments, the gantry 40 maypivot more than 45°, such as at least about 90°, relative to the supportcolumns 31, 33. In some embodiments, the gantry 40 may pivot between agenerally vertical orientation (such as shown in FIGS. 1A-B) and agenerally horizontal orientation, as shown in FIGS. 3A-C. By generallyhorizontal orientation, the imaging axis 114 may be parallel to the flattop surface of base 102 or other planar horizontal surface on which thesystem 100 is supported (e.g., the ground or floor), and includesdeviations up to 45° from this parallel orientation (e.g., the imagingaxis 114 is oriented less than 45° relative to the horizontal topsurface of base 102).

In a generally horizontal configuration, the system 100 may perform animaging scan of an object positioned on a suitable support, such astabletop support 60, shown in FIGS. 3A-C. The table column 50 may beconfigured to support the tabletop support 60. The tabletop support 60may be attached to the table column 50 in a cantilevered manner, suchthat at least a portion of the tabletop support 60 may extend over thebase. A portion of the tabletop support 60 may extend into the bore 116of the gantry 60. The tabletop support 60 may include, for example, anysuitable table, such as a patient table, as well as a chair for a seatedpatient.

An imaging scan may be performed via a relative displacement of thegantry 40 and the tabletop support 60. The relative displacement may bein a generally horizontal direction, such as indicated by arrow 212. Therelative displacement may be the displacement of the tabletop support60, such as a displacement of the table column 50 and tabletop support60 with respect to a stationary gantry 40, or a displacement of thetabletop support 60 with respect to a stationary table column 50 andgantry 40. In other embodiments, the gantry 40 may move relative to astationary tabletop support 60. In further embodiments, both the gantry40 and the tabletop support 60 may move.

In the embodiment illustrated in FIGS. 3A-3C, the gantry 40 and the atleast one support column 31, 33 may be displaced relative to the base102, table column 50 and patient table 60, which may be stationary. Thebase 102 and the at least one support column 31, 33 may include matingfeatures that enable the displacement of the support members 31,33(along with the gantry 40 and attachment mechanisms 201, 203 to whichthey are attached), relative to base 102 in a generally horizontaldirection 212, while the support column(s) 31, 33 and gantry 40 arerestricted from moving in other directions relative to base 102. In theembodiment of FIGS. 3A-C, the base 102 may include a horizontal guide inthe form of rails 110 extending along the length of the base 102. Thesupport columns 31, 33 may include features that mate with therespective rails 110 to enable the horizontal displacement of thesupport columns 31, 33 and gantry 40. A second drive mechanism (e.g.,z-drive) may drive the displacement (movement) of the support columns31, 33, attachment mechanisms 201, 203 and gantry 40 along the base 102.The second drive mechanism may comprise, for example, a traction drive,a gear system, a belt drive, a pulley, a drivewheel, etc., or variouscombinations thereof. The second drive mechanism may be mechanicallycoupled to and driven by one or more motor(s), which may be located onthe base 102 and/or on one or more support column(s) 31, 33. Acontroller may control the operation of the motorized second drivemechanism and thereby control the displacement of the support columns31, 33 and gantry 40. The controller may receive position feedbacksignals indicative of the position of the support column(s) 31, 33 andgantry 40 relative to the base 102, such as from a linear encoder.

The drive mechanism for vertical displacement as described above may beused to adjust the height of the gantry 40 relative to the tabletopsupport 60, either before or during a horizontal scan. Similarly, thedrive mechanism for horizontal displacement as described above may beused to adjust the position of the gantry 40 in a horizontal direction(e.g., z-direction), either before or during a vertical scan.

FIGS. 3A-C illustrate an embodiment of a system 100 performing ahorizontal scan. In FIG. 3A, the gantry 40 and support columns 31, 33are located away from the table column 50 and the distal end of thetabletop support 60 is within the bore 116. In FIG. 3B, the gantry 40and support columns 31, 33 are moved towards the table column 50 in thedirection of arrow 212, and the tabletop support 60 extends fullythrough the bore 116. In FIG. 3C, the gantry 40 and support columns 31,33 have traveled to the proximal end of rails 110, and the gantry 40 isproximate to the table column 50. The imaging components of the gantry40 may obtain imaging data of an object positioned within the bore 116while the gantry 40 is displaced in a generally horizontal direction, asshown in FIGS. 3A-C, to obtain a horizontal scan of the object. For anx-ray CT imaging system, for example, an x-ray source and detector mayrotate within the gantry 40 while the gantry is horizontally displacedto provide a helical scan in a generally horizontal orientation. Invarious embodiments, the system 100 may perform a horizontal scan of ahuman or animal patient in a lying position.

FIG. 4 illustrates a system 100 according to one embodiment wherein thetabletop support 60 may be rotated at least about 90° on the tablecolumn 50. In embodiments, the tabletop support 60 may be rotated tofacilitate loading/unloading of a patient, or to provide better accessto the patient for a medical procedure. The tabletop support 60 may berotated back to the orientation of FIGS. 3A-C in order to perform anadditional imaging scan, without having to remove the patient or movethe patient relative to the tabletop support 60 between scans. Thetabletop support 60 may be rotated to the orientation of FIG. 4 toperform a scan in a generally vertical orientation, such as shown inFIGS. 1A-2. In embodiments, the tabletop support 60 may also translatewith respect to the table column 50 in one or more directions. Theheight of the table column 50 may also be adjustable.

FIGS. 5A-5C illustrate an embodiment imaging system 100 performing ascan along a tilted axis. In FIG. 5A, the object being imaged (e.g.,patient 105) is positioned along a tilted axis 514 (i.e., neitherhorizontal nor vertical). The patient 105 may be supported against asupport structure 60 that is similarly aligned along tilted axis 514.The gantry 40 may be tilted on the support columns 31, 33 to any desiredangle relative to axis 514, and may be perpendicular to axis 514. Theregion of interest of the patient 105 may be centered within the bore(e.g., such that the bore imaging axis is collinear with the tilted axis514). In various embodiments, the imaging system 100 may perform animaging scan (e.g., a helical x-ray CT scan) of the patient 105 whilemaintaining a fixed angle between the gantry and the tilted axis 514 andmaintaining the region of interest centered within the bore. The imagingsystem 100 may achieve this via coordinated movement of the gantry inboth a vertical direction (indicated by arrow 112) and a horizontaldirection (indicated by arrow 122). The vertical movement of the gantry40 may be with respect to the support column(s) 31, 33, and may be alongvertical rail(s) 118, as described above. The horizontal movement of thegantry 40 may be the movement of the support column(s) 31, 33,attachment mechanisms 201, 203 and gantry 40 along the base 102, and maybe along a horizontal guide (rail(s) 110), as described above. A controlsystem of the imaging system 100 may include logic configured todetermine the relative vertical and horizontal displacement of thegantry 40 needed to translate the gantry along a tilted axis 514. Firstand second drive mechanism(s) for producing the respective vertical andhorizontal movements of the gantry 40 may be controlled by the controlsystem to provide coordinated vertical and horizontal displacement ofthe gantry. Where the angle of the tilted axis 514 is known or may bedetermined, the control system may use simple trigonometric relations todetermine the vertical and horizontal displacement of gantry 40. Forexample, where the tilted axis 514 is at a 60° angle relative tohorizontal, each cm of the scan along axis 514 may include a verticaldisplacement of ˜0.87 cm (i.e., sin 60°) and a horizontal displacementof 0.5 cm (i.e., cos 60°). Thus, the imaging system 100 may perform ascan at any tilt axis 514, and in embodiments may perform scans alongcomplex axes, such as along an angled or curved axis.

FIGS. 5A-5C illustrate an example of an imaging scan of a patient alonga tilted axis 514. The patient 105 may lean against support 60 such thatthe patient is aligned along the tilted axis 514. The gantry 40 may betilted such that the gantry is perpendicular to tilted axis 514, withthe patient centered within the bore of the gantry. The gantry 40 maythen be displaced in both vertical and horizontal directions such thatthe gantry 40 may translate along the length of the patient 105, asshown in FIGS. 5B and 5C. The gantry 40 may remain perpendicular to thetilted axis 514 through the duration of the scan. Imaging components,such as an x-ray source and detector, may rotate within the gantry 40while the gantry translates along the length of the patient 105 toobtain a helical scan.

A number of imaging components that may be included in the imagingsystem 100 for providing an imaging scan are illustrated in FIG. 6. Thecomponents may be housed within the gantry 40. In one embodiment, theimaging system 100 comprises an X-ray CT imaging system, and includes anx-ray source 43, high-voltage generator 44, heat exchanger 430, x-raydetector 45, power supply 63 (e.g., battery system), computer 46, rotordrive mechanism 47, and a docking system 35 (e.g., for providingintermittent power/data connection between rotating and non-rotationportions of the system). These components may be mounted on a rotor 41to collectively define a rotating portion 101 of the system. The rotor41 and the components mounted thereto may rotate around a housingdefined by an outer shell 42 (FIG. 7A) of the gantry 40 and within aninternal cavity of the gantry 40.

It will be understood that the components described and illustrated aremerely exemplary, and other embodiments may omit one or more of thesecomponents and may utilize other additional components. For example, inembodiments, power for the rotating portion 101 may be provided by aslip ring or cable system, so that a power supply 63 on the rotatingportion 101 may not be needed. In some embodiments, power and/or datamay be continuously transferred between the rotating and non-rotatingportions via cable, slip ring or wirelessly, in which case the powersupply 63, computer 46 and/or docking system 35 may not be included.Further, the rotation of the rotor may be provided by a drive system onthe non-rotating portion, in which case the rotor drive mechanism 47 onthe rotor 41 may not be included. Also, it will be understood that othertypes of imaging systems, such as MRI systems, may use other suitablecomponents for imaging, as are known in the art.

In embodiments, the x-ray source 43 and detector 45 may be configured toperform a helical x-ray CT scan. The detector 45 may comprise aplurality of x-ray sensitive detector elements arranged in asemicircular arc, with the arc center coinciding with the focal spot ofthe x-ray source. In some embodiments, the x-ray detector may be a flatpanel detector, and the system may be configured to perform real timex-ray and/or cone beam imaging of an object within the bore of thegantry. The system may be a single plane system (i.e., having a singlesource and detector which can obtain an image in a single plane at onetime), or in some embodiments, may be a bi-plane or multi-plane system(i.e., having multiple x-ray source(s) and/or detector(s) at differentpositions on the ring for obtaining images in multiple planes at thesame time).

In the embodiment of FIG. 6, during an imaging scan, the rotor 41rotates within the interior of the gantry, while the imaging componentssuch as the x-ray source 43 and x-ray detector 45 obtain imaging datafor an object positioned within the bore 116 of the gantry, as is known,for example, in conventional X-ray CT scanners. The rotor drivemechanism 47 may drive the rotation of the rotor 41 around the interiorof the gantry 40. The rotor drive mechanism 47 may be controlled by asystem controller that controls the rotation and precise angularposition of the rotor 41 with respect to the gantry 40, preferably usingposition feedback data, such as from a position encoder device.

Various embodiments of the imaging system 100 may be relatively compact.One way in which the system 100 may be made compact is in the design ofthe gantry 40 and its interface with the rotating portion 101 (e.g., therotor 41 and the various components mounted to the rotor 41). Inembodiments, the outer shell 42 of the gantry 40 may comprise both aprotective outer covering for the rotating portion 101 and a mountingsurface for a bearing that enables the rotating portion 101 to rotate360° within the outer shell 42 of the gantry 40.

FIG. 7A is an exploded view of a gantry 40 according to one embodimentthat illustrates the outer shell 42, the rotor 41 and a bearing assembly400. FIG. 7B illustrates the assembled gantry 40. As is shown in FIGS.7A-B, the outer shell 42 of the gantry 40 may be a generally O-shapedcovering of a structural material that may at least substantially fullyenclose the rotating portion 101, including the rotor 41 and anycomponents mounted to the rotor, over one or more sides of the rotatingportion 101. The outer shell 42 of the gantry 40 may be conceptuallyconsidered an “exoskeleton,” that both supports the rotating portion 101of the system 100, preferably in three dimensions, and also provides aprotective barrier between the rotating portion 101 and the externalenvironment. The outer shell 42 may be fabricated from a sufficientlyrigid and strong structural material, which may include, for example,metal, composite material, high-strength plastic, carbon fiber andcombinations of such materials. In preferred embodiments, the outershell 42 may be comprised of a metal, such as aluminum. The outer shell42 may be machined or otherwise fabricated to relatively tighttolerances. The outer shell 42 may be formed as a one piece, unitarycomponent. In other embodiments, the outer shell 42 may be comprised ofmultiple components and/or materials that may be joined using anysuitable technique to provide the shell 42.

The outer shell 42 may have an outer circumferential surface 406 thatmay extend around the periphery of the rotating portion 101 of thesystem 100 to substantially fully enclose the rotating portion 101around its outer circumference. The outer shell 42 may also include atleast one side wall 412 that may extend from the outer circumferentialsurface 406 to a bore 116 of the gantry 40 and may substantially fullyenclose the rotating portion 101 around one side of the rotatingportion.

The bearing assembly 400 according to one embodiment is shown in FIG.7A. In this embodiment, the bearing assembly 400 includes a first race402 that may be securely fastened to the outer shell 42 of the gantry40, and a second race 404 that may be securely fastened to the rotor 41.A bearing element is provided between the first race 402 and the secondrace 404, and is configured to allow the second race 404 (along with therotor 41 to which it is attached) to rotate concentrically within thefirst race 402, preferably with minimal friction, thereby enabling therotor 41 to rotate with respect to the outer shell 42 of the gantry 40.In some embodiments, all or a portion of the bearing assembly 400 may beintegrally formed as a part of the outer shell 42, of the rotor 41, orof both. For example, the first race 402 may be formed as an integralsurface of the outer shell 42 and/or the second race 404 may be formedas an integral surface of the rotor 41. In various embodiments, theentire bearing assembly for enabling the rotation of the rotatingportion 101 with respect to the non-rotating portion 103 of the imagingsystem 100 may be located within the generally O-shaped gantry 40.

The outer diameter of the gantry 40 can be relatively small, which mayfacilitate the portability of the system 100. In a preferred embodiment,the outer diameter of the gantry 40 is less than about 70 inches, suchas between about 60 and 68 inches, and in one embodiment is about 66inches. The outer circumferential wall 406 of the outer shell 42 may berelatively thin to minimize the OD dimension of the gantry 40. Inaddition, the interior diameter of the gantry 40, or equivalently thebore 116 diameter, can be sufficiently large to allow for the widestvariety of imaging applications, including enabling different patientsupport tables to fit inside the bore, and to maximize access to asubject located inside the bore. In one embodiment, the bore diameter ofthe gantry 40 is greater than about 38 inches, such as between about 38and 44 inches, and in some embodiments can be between about 40 and 50inches. In one exemplary embodiment, the bore has a diameter of about 42inches. The gantry 40 generally has a narrow profile, which mayfacilitate portability of the system 100. In one embodiment, the widthof the gantry 40 (W) is less than about 17 inches, and can be about 15inches or less.

FIG. 7C illustrates the gantry 40 and attachment mechanisms 201, 203 forsecuring the gantry 40 to the support column(s) 31, 33 (see FIG. 1A).The attachment mechanisms 201, 203, which may have an “earmuff” shape,may include bearing apparatuses that enable the pivot motion of thegantry 40 relative to the support column(s) 31, 33, such as a pivotmotion from a vertical to a horizontal orientation, and vice versa. Oneor both of the attachment mechanism(s) 201, 203 may also include aportion of a docking system for providing power and data transferbetween rotating and non-rotating portions of the system. The system 100may be assembled by securing the attachment mechanisms 201, 203 toopposite sides of the gantry 40. The entire assembly may then beattached to the support columns 31, 33.

FIGS. 8A-8C, 9A-9C and 10A-10C illustrate yet another embodiment of animaging system 800. The imaging system 800 in this embodiment includesan imaging gantry 40 mounted to a support column 801. The support column801 may be mounted to the gantry 40 on a first side of the gantry 40 andmay support the gantry 40 in a cantilevered manner. The gantry 40 may bea generally O-shaped structure having a central imaging bore 116 anddefining an imaging axis 114 extending through the bore. The gantry 40may contain one of more of the components described above with referenceto FIG. 6, such as an x-ray source, a detector, a high-voltagegenerator, a heat exchanger, a power supply (e.g., battery system), anda computer. These components may be mounted on a rotating element (e.g.,a rotor) that rotates within the gantry 40 during an imaging scan. Arotor drive mechanism may also be located on the rotor, and may drivethe rotation of the rotor. Between scans, a docking system may be usedto couple the rotating and non-rotating portions of the system 800 forpower and data communication.

The system 800 may also include a base 802 that may be located on aweight-bearing surface, such as a floor 819 of a building. In theillustrated embodiment, the base 802 comprises a generally rectilinearsupport structure that may be mounted (e.g., bolted) to the floor 819.The support column 801 may be located on and supported by the base 802and may extend upwards from the top surface of the base 802 in agenerally vertical direction. The support column 801 may have a lengthdimension that extends vertically at least about 2 meters, such as 2-5meters (e.g., about 3 meters).

As shown in FIGS. 8A-8C, the support column 801 may support the gantry40 in a generally vertical orientation, such that the front and rearfaces of the gantry 40 extend parallel to the floor 819 and the imagingaxis 114 through the gantry bore 116 extends in a vertical direction(i.e., perpendicular to the floor). The imaging axis 114 of the gantry40 in this configuration may extend parallel to the length dimension ofthe vertically-extending support column 801.

The gantry 40 may be displaced along the length of the support column801 in a generally vertical direction. This is illustrated in FIGS.8A-8C, which show the gantry 40 displaced vertically from a firstposition in FIG. 8A with the gantry 40 located proximate a first end ofthe support column 801 (i.e., opposite the base 802), to a secondposition in FIG. 8B with the gantry 40 located approximately mid-wayalong the length of the support column 801, to a third position in FIG.8C, with the gantry 40 located proximate to a second end of the supportcolumn 801 proximate to the base 802. The gantry 40 and the supportcolumn 801 may include mating features that confine the displacement ofthe gantry 40 along the length of the support column 801. As shown inFIGS. 8A-8C, for example, a pair of parallel vertical rails 805, 806 mayextend in a vertical direction along the length of the support column801. An attachment mechanism 807 may be attached to one side of thegantry 40, and may be located between the side of the gantry 40 and thesupport column 801. The attachment mechanism 807 may include bearingelements (e.g., roller and/or dovetail bearing slides) that engage withthe vertical rails 805, 806 to provide linear motion of the attachmentmechanism 807 and gantry 40 along the length of the support column 801.

A first drive mechanism may drive the displacement of the gantry 40 andattachment mechanism 807 relative to the support column 801. A firstdrive mechanism 808 is schematically illustrated in FIG. 10A. The firstdrive mechanism 808 may comprise a linear actuator, such as a lead screwor ball screw system. In embodiments, a threaded shaft may extendlengthwise within an interior housing 809 of the support column 801. Amotor, which may also be located within the support column 801, may begeared into the threaded shaft to drive the rotation of the shaft. Anarm may extend from the attachment mechanism 807 through an opening 811(e.g., a slot) extending along the length of the support column 801. Anut on the end of the arm may engage with the threaded shaft within thehousing 809 of the support column 801. The rotation of the threadedshaft may cause the nut to reciprocate up and down along the length ofthe shaft. The reciprocation of the nut on the shaft may drive thevertical displacement of the attachment mechanism 807 and gantry 40 withrespect to the support column 801. A controller 810 (see FIG. 10A) maycontrol the operation of the first drive mechanism and thereby controlthe vertical displacement of the gantry 40. The controller may receiveposition feedback signals indicative of the position of the gantry 40along the support column 801, such as from a linear encoder.

The system 800 may also include a patient support 813. The patientsupport 813 may support a patient 105 in a weight-bearing standingposition as shown in FIGS. 8A-8C. The patient support 813 may include afirst portion 815 that supports the feet of a patient upon which thepatient 105 may stand. A second portion 817 may extend generallyperpendicular to the first portion 815 and may provide additionalsupport to the patient 105. For example, the patient 105 may leanagainst the second portion 817 during a scan and the second portion 817may help to stabilize the patient 105 and prevent the patient 105 fromfalling off the patient support 813. In embodiments, the patient support813 may support the patient 105 in a position that is raised above thefloor 819, as shown in FIGS. 8A-8C. The first portion 815 and the secondportion 817 may be made of a radiolucent (x-ray transparent) material,such as carbon fiber material.

The system 800 may be used to perform an imaging scan of a patient 105in a weight-bearing standing position. For example, for an x-ray CTimaging system, the x-ray source and detector may rotate within thegantry 40 around the patient while the gantry 40 and attachmentmechanism 807 are displaced vertically on the support column 801 asshown in FIGS. 8A-8C to perform a helical scan of a patient 105positioned on the patient support 813. In embodiments, the system 800may scan over the full length of the patient (e.g., from the top of thepatient's cranium to the bottom of the patient's feet) or any selectedportion thereof. Following a scan, the gantry 40 may be moved to anout-of-the way position (e.g., to the top of the support column 801 orbelow the patient's feet) and the patient 105 may be removed from thepatient support 813.

The gantry 40 may be attached to the support column 801 by theattachment mechanism 807 such that the gantry 40 may pivot (i.e., tilt)with respect to the support column 801. This is illustrated in FIGS.9A-9C, which illustrate the gantry 40 pivoted from a generally verticalorientation (as shown in FIGS. 8A-8C) with the front and rear faces ofthe gantry 40 extending parallel to the floor 819 and the imaging axis114 extending in a vertical direction (i.e., perpendicular to the floor)to a generally horizontal orientation with the front and rear faces ofthe gantry extending perpendicular to the floor 819 and the imaging axis114 extending in a horizontal direction (i.e., parallel to the floor).The imaging axis 114 of the gantry 40 in the configuration shown inFIGS. 9A-9C may extend perpendicular to the length dimension of thevertically-extending support column 801.

In embodiments, the gantry 40 may be attached to the attachmentmechanism 807 via a bearing assembly (i.e., a rotary bearing assembly)that allows the gantry 40 to pivot with respect to the support column801. In one embodiment, the rotary bearing assembly may include a firstportion (i.e., bearing race) mounted to the attachment mechanism 807 anda second portion (i.e., bearing race) mounted to the gantry 40. The twobearing portions may rotate concentrically relative to one another suchthat the gantry 40 may be rotated relative to the attachment mechanism807 and support column 801. In embodiments, the gantry 40 may rotate atleast about 90° relative to the support column 801 (e.g., as isillustrated by FIGS. 8A-8C and FIGS. 9A-9C).

In some embodiments, the patient support 813 may move from a firstconfiguration as shown in FIGS. 8A-8C to a second configuration as shownin FIGS. 9A-9C. In the configuration of FIGS. 8A-8C, the first portion815 of the patient support 813 may extend in a generally horizontaldirection (i.e., parallel to the floor 819) and the second portion 817may extend in a generally vertical direction (i.e., away from the floor819). In the configuration of FIGS. 9A-9C, the second portion 817 of thepatient support 813 may extend in a generally horizontal direction(i.e., parallel to the floor 819) and the first portion 815 may extendin a generally vertical direction. Put another way, the patient support813 may tilt by a predetermined angle (e.g., ˜90°) relative to the floor819 between the configuration shown in FIGS. 8A-8C and the configurationshown in FIGS. 9A-9C. In embodiments, the table configuration of FIGS.8A-8C may be used for scanning a patient in a weight-bearing standingposition and the table configuration of FIGS. 9A-9C may be used forscanning a patient in a lying position.

In some embodiments, the patient support 813 may rotate (tilt) withrespect to a linkage member 821 to which the patient support 813 isattached. In embodiments, the linkage member 821 may also rotate withrespect to the floor 819. For example, the linkage member 821 may beattached to a base 823 that may be mounted to the floor 819. The linkagemember 821 may rotate relative to the base 823. The rotation of thelinkage member 821 relative to the base 823 may raise and lower thepatient support 813 relative to the floor 819. A control system mayprovide coordinated rotational motion of the patient support 813relative to the linkage member 821 and rotational motion of the linkagemember 821 relative to the base 823 to move the table system from theconfiguration shown in FIGS. 8A-8C to the configuration shown in FIGS.9A-9C. An example of a patient table system that may be used with thesystem 800 is described in U.S. Provisional Patent Application No.62/380,595 filed on Aug. 29, 2016, the entire contents of which areincorporated by reference herein.

FIGS. 9A-9C illustrate the system 800 performing an imaging scan of apatient 105 in a lying position. In particular, for an x-ray CT imagingsystem, the x-ray source and detector may rotate within the gantry 40around the patient 105 while the gantry 40 is translated relative to thepatient support 813 in a generally horizontal direction to perform ahelical scan of a patient 105 lying on the patient support 813. In theembodiment shown in FIGS. 9A-9C, the gantry 40, attachment mechanism 807and support column 801 may translate relative to the patient 105 andpatient support 813, which may be stationary during the scan. The gantry40, attachment mechanism 807 and the support column 801 may translatealong the length of the base 802. As shown in FIGS. 9A-9C, the gantry 40may be displaced vertically on the support column 801 such that thepatient 105 is aligned with the bore 116 of the gantry 40 and theimaging axis 114 extends along the length of the patient 105. The gantry40, attachment mechanism 807 and the support column 801 may thentranslate along the base 802 in a horizontal direction from a firstposition as shown in FIG. 9A with the gantry 40 located over the head ofthe patient 105, to a second position as shown in FIG. 9B with thegantry 40 located over the mid-section of the patient 105, to a thirdposition as shown in FIG. 9C with the gantry 40 located over the feet ofthe patient 105. The system 800 may perform a horizontal scan over thefull length of the patient 105 or any selected portion thereof.

The base 802 and the support column 801 may include mating features thatconfine the translation of the support column in a horizontal directionalong the length of the base 802. In the example of FIGS. 9A-9C, thebase 802 may include a horizontal guide, such as rails or tracks, thatmay mate with corresponding features at the bottom of the support column801 to guide the translation of the support column 801 in a horizontaldirection. A second drive mechanism may drive the translation of thesupport column 801 relative to the base 802. A second drive mechanism812 for translating the gantry 40 and support column 801 isschematically illustrated in FIG. 10A. The second drive mechanism maycomprise, for example, a belt drive, a drive wheel, a lead screw, a ballscrew, a pulley, etc. or various combinations therefore. The seconddrive mechanism may be mechanically coupled to and driven by one or moremotors, which may be located in the support column 801 and/or the base802. The controller 810 (see FIG. 10A) may control the operation of thesecond drive mechanism and thereby control the horizontal translation ofthe support column 801, attachment mechanism 807 and gantry 40. Thecontroller may receive position feedback signals indicative of theposition of the support column 801 relative to the base 802, such asfrom a linear encoder.

FIGS. 10A-10C illustrate the system 800 performing an imaging scan of apatient 105 along a tilted axis. The patient 105 may be supported by thepatient support 813 at an oblique angle such that an axis 1014 extendinglengthwise through the patient 105 is neither parallel or perpendicularto the floor 819. This may be achieved, for example, by rotating(tilting) the patient support 813 and patient 105 from a standingposition (as shown in FIGS. 8A-8C) or rotating (tilting) the patientsupport 813 and patient 105 upwards from a lying position (as shown inFIGS. 9A-9C). The gantry 40 may be pivoted with respect to the supportcolumn 801 such that the imaging axis 114 through the bore 116 isparallel to, and optionally collinear with, the patient axis 1014. Thesystem 800 may perform an imaging scan (e.g., a helical x-ray CT scan)of the patient 105 by moving the gantry 40 in the direction of thetilted patient axis 1014 while maintaining a fixed angle between thegantry 40 and axis 1014. In various embodiments, the controller 810 ofthe imaging system 800 may provide a coordinated movement of the gantry40 and attachment mechanism 807 relative to the support column 801 in avertical direction with a movement of the gantry 40, attachmentmechanism 807 and support column 801 relative to the base 802 in ahorizontal direction. The controller 810 may include logic configured todetermine the relative vertical and horizontal displacement of thegantry 40 needed to move the gantry 40 along the tilted axis 1014. Thecontroller 810 may send control signals to the first and second drivemechanisms 808, 812 as described above to provide coordinated verticaland horizontal displacement of the gantry 40. Where the angle of thetilted axis 1014 is known or may be determined, the controller 810 mayuse simple trigonometric relations to determine the vertical andhorizontal displacement of the gantry 40. As in the embodiment of FIGS.5A-5C, for example, where the tilted axis 1014 is at an angle of 60°relative to horizontal, each cm of the scan along the axis 1014 mayinclude a vertical displacement of the gantry 40 relative to the supportcolumn 801 of ˜0.87 cm (i.e., sin 60°) and a horizontal displacement ofthe gantry 40 and support column 801 relative to the base 802 of 0.5 cm(i.e., cos 50°). Thus, the imaging system 800 may perform a scan at anytilt axis 1014, and in embodiments may perform scans along complex axes,such as along an angled or curved axis.

FIGS. 10A-10C illustrate the system 800 performing an imaging scan of apatient 105 along a tilted axis 1014. In particular, for an x-ray CTimaging system, the x-ray source and detector may rotate within thegantry 40 around the patient 105 while the gantry 40 is displaced inboth vertical and horizontal directions to perform a helical scan of thepatient 105 along a tilted axis 1014. The patient may be supported on apatient support 813 that may be tilted such that the second portion 817of the patient support 813 may extend parallel to the tilted axis 1014.The gantry 40 may be pivoted with respect to the support column 801 toalign the gantry imaging axis 814 with the tilted axis 1014. The gantry40 may be moved in both a vertical and horizontal direction from a firstposition as shown in FIG. 10A with the located over the head of thepatient 105, to a second position as shown in FIG. 10B with the gantry40 located over the mid-section of the patient 105, to a third positionas shown in FIG. 10C with the gantry 40 located over the feet of thepatient 105. The system 800 may perform scan over the full length of thepatient 105 or any selected portion thereof.

FIGS. 11A-11C illustrate yet another embodiment of an imaging system1100. The imaging system 1100 in this embodiment is similar to theimaging system 100 described above with reference to FIGS. 1A-5C, andincludes an imaging gantry 40 and a pair of support columns 31, 33 thatextend vertically on opposite sides of the gantry 40. The pair ofsupport columns 31, 33 may be attached to opposite sides of the gantryby a pair of attachment mechanisms 201, 203. The gantry 40 may be agenerally O-shaped structure having a central imaging bore 116 anddefining an imaging axis 114 extending through the bore. The imagingsystem 1100 may be an x-ray imaging system and the gantry 40 may containone of more of the x-ray imaging components described above withreference to FIG. 6, such as an x-ray source, an x-ray detector, ahigh-voltage generator, a heat exchanger, a power supply (e.g., batterysystem), and a computer.

The imaging system 1100 further includes a base 102, and the supportcolumns 31, 33 extend vertically above a top surface of the base 102. Asshown in FIG. 11A, the gantry 40 is supported between the pair ofsupport columns 31, 33 and above the top surface of the base 102. In theconfiguration shown by FIG. 11A, the support columns 31, 33 support thegantry with the imaging axis 114 in a horizontal orientation.

Attachment mechanism 201 mates with at least one vertical rail 118 onsupport column 31, and attachment mechanism 203 mates with at least onevertical rail 118 on support column 33. The pair of attachmentmechanisms 201, 203 are moveable along the vertical rails 118 of thesupport columns 31, 33 to cause the pair of attachment mechanisms 201,203 and the gantry 40 to which they are attached to move up and downalong the support columns 31, 33 in the direction of arrow 112. A firstdrive mechanism (see 808 in FIG. 10A) may move the attachment mechanisms201, 203 and gantry 40 along the support members 31, 33.

The support columns 31, 33, the attachment mechanisms 201, 203 and thegantry 40 are moveable with respect to the base 102. A second drivemechanism (see 812 in FIG. 10A) may move the support columns 31, 33,attachment mechanisms 201, 203 and gantry 40 back and forth along thebase 102 in the direction of arrow 212. The second drive mechanism maymove the gantry 40, attachment mechanisms 201, 203 and support columns31, 33 in a horizontal direction along the base 102 in coordination withthe rotation of x-ray imaging components around the bore 116 in order toperform a helical CT scan of a human or animal patient positioned withinthe bore 116 (e.g., on a patient table, not illustrated in FIG. 11A).

The base 102 may include a pair of horizontal guides 110, and each ofthe support columns 31, 32 may move along a respective horizontal guide110. In the embodiment shown in FIGS. 11A-11C, the support columns 31,33 may extend into the base 102, and the horizontal guides 110 mayinclude a pair of parallel slots 1105 within which the support columns31, 33 may move. The support columns 31, 33 may also engage with a oneor more guide rails, such as shown in FIGS. 1A-5C, which may be locatedinside the slots 1105.

Each of the attachment mechanisms 201, 203 may attach to a side of thegantry 40 via a bearing assembly that allows the gantry 40 to pivot withrespect to the support columns 31, 33. As shown in FIGS. 11A-11B, thegantry 40 may pivot from a configuration in which the pair of supportcolumns 31, 33 support the gantry 40 with the imaging axis 114 in ahorizontal orientation (see FIG. 11A) to a configuration in which thepair of support columns 31, 33 support the gantry 40 with the imagingaxis 114 in a vertical orientation (see FIG. 11B). The gantry 40 mayalso be pivoted to a configuration in which the support columns 31, 33support the gantry 40 with the imaging axis 114 of the gantry 40orientated along a tilted axis that is neither vertical nor horizontal,such as shown in FIGS. 5A-5C and 10A-10C.

In embodiments, the first drive mechanism may move the pair ofattachment mechanisms 201, 203 and the gantry 40 on the vertical rails118 along the support columns 31, 33 while the support columns 31, 33support the gantry 31 with the imaging axis 114 in a verticalorientation as shown in FIG. 11B in order to perform a vertical scan ofa human or animal patient located within the bore 116 of the gantry 40.The patient may be scanned in a weight-bearing (e.g., standing)position. The attachment mechanisms 201, 203 and the gantry 40 may movevertically along the support columns 31, 33 in coordination with therotation of x-ray imaging components around the bore 116 in order toperform a helical CT scan of the patient.

In addition, while the support columns 31, 33 support the gantry 40 withthe imaging axis 114 orientated along a tilted axis, a controller (see810 in FIG. 10A) may control the first and second drive mechanisms tomove the gantry 40 in both vertical and horizontal directions in acoordinated manner in order to perform an x-ray imaging scan along thetilted axis, as described above with reference to FIGS. 5A-5C and10A-10C.

As shown in FIGS. 11A-11C, the base 102 of the imaging system 1100 mayalso include a cavity 1101 configured to receive the gantry 40 so thatthe gantry 40 is housed within the base 102. The cavity 1101 may have asize and shape that corresponds to the size and shape of the gantry 40while the support columns 31, 33 support the gantry 40 with the imagingaxis 114 in a vertical orientation. The cavity 1101 may also be sizedand shaped to accommodate the attachment mechanisms 201, 202, as shownin FIGS. 11A-11C.

In the embodiment of FIGS. 11A-11C, the gantry 40 may be pivoted to aconfiguration in which the pair of support columns 31, 33 support thegantry 40 with the imaging axis 114 in a vertical orientation, as shownFIG. 11B. Optionally, the support columns 31, 33, attachment mechanisms201, 203 and gantry 40 may be moved along the base 102 on the horizontalguides 110 to position the gantry in alignment with the cavity 1101 inthe base 102. The first drive mechanism may move the gantry 40 andattachment mechanisms 201, 203 down along the vertical rails 118 of thesupport members 31, 33 to move the gantry 40 and attachment mechanisms201, 203 into the cavity 1101 in the base 102.

The cavity 1101 may have a depth that is at least as large as the widthdimension of the gantry 40 so that the gantry 40 may fully enter thecavity 1101. This may enable the gantry 40 to be moved completely out ofthe way and safely stored in the cavity 1101 when not in use. In theembodiment shown in FIG. 11C, the gantry 40 is moved into the cavity1101 so that the outer surface of the gantry 40 is level with the topsurface of the base 102. In some embodiments, a door or similar cover(not illustrated in FIG. 11C) may optionally be moved into place overthe top of the cavity 1101 to fully enclose the gantry 40 within thecavity 1101. As shown in FIG. 11C, the shape of the cavity 1101 mayroughly correspond to both the outer and inner dimensions of the gantry40 so that a portion 1103 of the base 102 interior of the cavity 1101may fill the space within the bore 116 of the gantry 40 when the gantry40 is located inside of the cavity 1101.

When the imaging system 1100 is needed to perform an imaging scan, thefirst drive mechanism may move the gantry 40 and attachment mechanisms201, 203 up along the vertical rails 118 of the support columns 31, 33to move the gantry 40 and attachment mechanisms 201, 203 out of thecavity 1101. The attachment mechanisms 201, 203 and the gantry 40 maymove vertically along the support columns 31, 33 in coordination withthe rotation of x-ray imaging components around the bore 116 in order toperform a vertical imaging scan (e.g., a helical x-ray CT scan) of apatient in a weight-bearing position. The patient may stand on theportion 1103 of the base 102 interior of the cavity 1101 during theimaging scan. Alternately, the gantry 40 and attachment mechanisms 201,203 may be raised out of the cavity 1101, and the second drive mechanismmay move the support columns 31, 33 along the horizontal guides 110 ofthe base 102 in order to move the gantry 40, attachment mechanisms 201,203 and support columns 31, 33 away from the cavity 1101 to a differentportion of the base 102 in order to perform a vertical imaging scan. Toperform an imaging scan in a horizontal direction or along a titledaxis, the gantry 40 may be pivoted to a configuration in which thesupport columns 31, 33 support the gantry 40 with the imaging axisoriented in a horizontal direction or along a tilted axis that isneither vertical nor horizontal. The second drive mechanism may move thegantry 40, attachment mechanisms 201, 203 and support columns 31, 33 ina horizontal direction along the base 102 in coordination with therotation of x-ray imaging components around the bore 116 in order toperform a helical CT scan of a human or animal patient positioned withinthe bore 116.

Although the imaging system 1100 shown in FIGS. 11A-11C includes a pairof support columns 31, 33 attached to opposite sides of the gantry 40,it will be understood that alternative embodiments may include a singlesupport column 801 that is mounted to a first side of the gantry 40 byan attachment mechanism 807 and that supports the gantry 40 in acantilevered manner, such as shown in FIGS. 8A-10C. In addition,although the embodiment shown in FIGS. 11A-11C includes a cavity 1101for housing the gantry 102 located within the base 102 of the imagingsystem 1100, it will be understood that in alternative embodiments, thecavity 1101 may be located in the floor.

FIGS. 12A-12D illustrate an alternative embodiment of an imaging system1200 having a single support column supporting the imaging gantry and acavity in the floor that is configured to receive the gantry. Theimaging system 1200 in this embodiment may be similar to the imagingsystem 800 described above with reference to FIGS. 8A-10C, and includesa base 802, a support column 801 located on and supported by the base802, and a gantry 40 supported by the support column 801 in acantilevered manner. An attachment mechanism 807 may be attached to oneside of the gantry 40, and may be located between the side of the gantry40 and the support column 801. The attachment mechanism 807 may engagewith vertical rails 805, 806 extending along the support column 801 thatenable the gantry 40 and attachment mechanism 807 to move up and downalong the support column 801.

The floor surface may include a first portion 1201 and a second portion1204, where the first portion 1201 may be raised relative to the secondportion 1204. The base 802 of the imaging system 1200 may be located onthe second portion 1204, so that it is recessed relative to the firstportion 1201. In the embodiment of FIGS. 12A-12D, the raised portion1201 is the upper surface of a platform. A ramp 1202 may extend betweenthe raised portion 1201 and the second portion 1204 of the floorsurface.

As shown in FIGS. 12A-12D, the first portion 1201 of the floor surfaceincludes a cavity 1205 configured to receive the gantry 40. The cavity1205 may have a size and shape that corresponds to the size and shape ofthe gantry 40. FIG. 12A shows the gantry 40 located within the cavity1205. In the embodiment shown in FIG. 12A, the outer surface of thegantry 40 is level with the first portion 1201 of the floor surface. Asection 1206 of the first portion 1201 of the floor surface that isinterior of the cavity 1205 has a size and shape that corresponds to thesize and shape of the bore 116 of the gantry 40. This section 1206 fillsthe space within the bore 116 when the gantry 40 is in the cavity 1205,as shown in FIG. 12A. In this embodiment, the cavity 1205 is located ata corner of the first portion 1201 of the floor surface, so that thefirst portion 1201 extends around a portion of the outer circumferenceof the gantry 40. FIG. 12A also illustrates a door 1207 that may bepivotably mounted to the first portion 1201 of the floor surface so thatthe door 1207 may be pivoted over the top of the cavity 1205 and coverat least a portion of the gantry 40.

When the imaging system 1200 is needed to perform an imaging scan, afirst drive mechanism (see FIG. 10A) may move the gantry 40 and theattachment mechanism 807 up along the vertical rails 805, 806 of thesupport column 801 to move the gantry 40 and attachment mechanism 807out of the cavity 1205, as shown in FIG. 12B. The gantry 40 andattachment mechanism 807 may move vertically along the support column801 in coordination with the rotation of x-ray imaging components aroundthe bore 116 in order to perform a vertical imaging scan (e.g., ahelical x-ray CT scan) of a patient in a weight-bearing position. Thepatient may stand on the section 1206 of the floor surface 1201 interiorof the cavity 1205 during the imaging scan. Alternately, the gantry 40and attachment mechanism 807 may be raised out of the cavity 1205, and asecond drive mechanism may move the support column 801 along the lengthof the base 802 in order to move the gantry 40, and attachment mechanism807 away from the cavity 1205 to a different location for performing avertical imaging scan. To perform an imaging scan in a horizontaldirection or along a titled axis, the gantry 40 may be pivoted on abearing assembly between the attachment mechanism 807 and the gantry 40to a configuration in which the support column 801 supports the gantry40 with the imaging axis oriented in a horizontal direction (as shown inFIG. 12C) or along a tilted axis that is neither vertical nor horizontal(as shown in FIG. 12D). The second drive mechanism may move the gantry40, attachment mechanism 807 and support column 801 in a horizontaldirection along the base 802 in coordination with the rotation of x-rayimaging components around the bore 116 in order to perform a helical CTscan of a human or animal patient positioned within the bore 116.

The foregoing method descriptions are provided merely as illustrativeexamples and are not intended to require or imply that the steps of thevarious embodiments must be performed in the order presented. As will beappreciated by one of skill in the art the order of steps in theforegoing embodiments may be performed in any order. Words such as“thereafter,” “then,” “next,” etc. are not necessarily intended to limitthe order of the steps; these words may be used to guide the readerthrough the description of the methods. Further, any reference to claimelements in the singular, for example, using the articles “a,” “an” or“the” is not to be construed as limiting the element to the singular.

The preceding description of the disclosed aspects is provided to enableany person skilled in the art to make or use the present invention.Various modifications to these aspects will be readily apparent to thoseskilled in the art, and the generic principles defined herein may beapplied to other aspects without departing from the scope of theinvention. Thus, the present invention is not intended to be limited tothe aspects shown herein but is to be accorded the widest scopeconsistent with the principles and novel features disclosed herein.

TABLE Reference Number Component Represented 31 Support column 33Support column 35 Docking system 40 Gantry 41 Rotor 42 Outer shell ofgantry 43 X-ray source 44 High-voltage generator 45 X-ray detector 46Computer 47 Rotor drive mechanism 50 Table Column 60 Tabletop support 63Power supply 100 Imaging system 101 Rotating portion of imaging system102 Base 105 Patient 110 Horizontal guide on base 112 Arrow indicatingdirection of displacement of gantry 114 Imaging axis 116 Bore 118Vertical rail on support column 201 Attachment mechanism for attachinggantry to support member 202 Support structure 203 Attachment mechanismfor attaching gantry to support member 212 Arrow indicating direction ofrelative displacement of gantry and tabletop support 400 Bearingassembly 402 First race of bearing assembly 404 Second race of bearingassembly 406 Outer circumferential surface of outer shell of gantry 412Side wall of outer shell of gantry 430 Heat exchanger 514 Tilted axis800 Imaging system 801 Support column 802 Base 805, 806 Vertical rails807 Attachment mechanism for attaching gantry to support column 808First drive mechanism that moves the attachment mechanism and the gantryalong the support column 809 Interior housing of support column 810Controller 811 Opening along length of support column 812 Second drivemechanism that moves the support column, attachment mechanism and gantryalong the base 813 Patient support 815 First portion of patient support817 Second portion of patient support 819 Floor 821 Linkage memberattached to patient support 823 Base mounted to floor and attached tolinkage member 1014 Axis extending lengthwise through patient 1100Imaging system 1105 Parallel slots in base 1101 Cavity in the base 1103Portion of the base interior of the cavity 1200 Imaging system 1201First portion of floor surface that is raised relative to a secondportion 1202 Ramp 1204 Second portion of floor surface that is recessedrelative to the first portion 1205 Cavity configured to receive thegantry 1206 Section of floor surface interior of the cavity 1207 Door

What is claimed is:
 1. A method of imaging a human or animal patientusing a multi-directional x-ray imaging system comprising a gantryhaving a central imaging bore and that contains an x-ray sourcecomponent and an x-ray detector component that are configured forobtaining x-ray images of the human or animal patient positioned withinthe central imaging bore of the gantry, the gantry also including ahousing and an internal cavity and the x-ray source component and thex-ray detector component are located within the housing and arerotatable around the housing within the internal cavity without thex-ray source component and the x-ray detector component entering intothe central imaging bore of the gantry, and the gantry is mounted to asupport column extending above a top surface of the base by anattachment mechanism that is attached to a side of the gantry and mateswith at least one vertical rail extending vertically along the supportcolumn, the method comprising: moving the gantry in a horizontaldirection by moving the support column, attachment mechanism and gantryforward or backwards along a horizontal guide in the base; obtainingx-ray image data of the human or animal patient using the x-ray sourcecomponent and the x-ray detector component while the gantry is moved ina horizontal direction; rotating the gantry with respect to the supportcolumn into a vertical orientation with an imaging axis through thecentral imaging bore extending vertically using a bearing assemblylocated between the gantry and the attachment mechanism; and loweringthe gantry into a cavity in the base or floor by moving the attachmentmechanism and the gantry on the at least one vertical rail in a downwarddirection along the support column while the gantry is in the verticalorientation.
 2. The method of claim 1, further comprising: raising thegantry out of the cavity in the base or floor by moving the attachmentmechanism and the gantry along the one or more vertical rails in anupward direction along the support column; and while the gantry is inthe vertical orientation, obtaining x-ray image data of a human oranimal patient positioned within the central imaging bore using thex-ray source component and the x-ray detector component by moving theattachment mechanism and the gantry on the at least one vertical rail upor down along the support column.
 3. The method of claim 2, furthercomprising: rotating the gantry with respect to the support column fromthe vertical orientation to a second orientation in which the imagingaxis through the central imaging bore extends horizontally or along atilted axis that is neither vertical nor horizontal using the bearingassembly located between the gantry and the attachment mechanism; movingthe gantry in a horizontal direction by moving the support column,attachment mechanism and gantry forward or backwards along thehorizontal guide in the base; and obtaining x-ray image data of a humanor animal patient using the x-ray source component and the x-raydetector component while the gantry is moved in a horizontal direction.4. The method of claim 1, wherein the cavity is in the base of the x-rayimaging system.
 5. The method of claim 1, wherein the cavity is in thefloor.
 6. The method of claim 1, wherein gantry is mounted to a firstsupport column extending above a top surface of the base by a firstattachment mechanism that is attached to a first side of the gantry, andthe gantry is also mounted to a second support column extending abovethe top surface of the base by a second attachment mechanism that isattached to a second side of the gantry that is opposite the first sideof the gantry, the second attachment mechanism mating with at least onevertical rail extending vertically along the second support column, andwherein: moving the gantry in a horizontal direction comprises movingthe first and second support columns, the first and second attachmentmechanisms and the gantry forward or backwards along a pair ofhorizontal guides in the base; rotating the gantry into a verticalorientation comprises rotating the gantry with respect to the first andsecond support columns using a pair of bearing assemblies locatedbetween the first and second sides of the gantry and the first andsecond attachment mechanisms; and lowering the gantry into a cavity inthe base or floor comprises moving the first and second attachmentmechanisms and the gantry on the vertical rails in a downward directionalong the first and second support columns.
 7. A multi-directional x-rayimaging system, comprising: a gantry defining a central imaging bore andan imaging axis extending through the central imaging bore, with thegantry also having a housing and an internal cavity; an x-ray sourcecomponent and an x-ray detector component that are configured forobtaining x-ray images of a human or animal patient located within thecentral imaging bore of the x-ray imaging system, where the x-ray sourcecomponent and the x-ray detector component are located within thehousing of the gantry and are rotatable around the housing of thegantry, within the internal cavity, without the x-ray source componentand the x-ray detector component entering into the central imaging bore;a pair of support columns located on opposite sides of the gantry andsupporting the gantry, with each of the support columns having at leastone vertical rail that extends vertically along the support column; apair of attachment mechanisms, each attachment mechanism located betweena side of the gantry and a support column and mating with the at leastone vertical rail of the support column so that the attachment mechanismand the gantry are movable on the at least one vertical rail up and downalong the support column, each of the attachment mechanisms alsoattaching to a side of the gantry via a bearing assembly to allow thegantry to pivot with respect to the pair of support columns between afirst configuration in which the pair of support columns support thegantry with the imaging axis in a vertical orientation, and a secondconfiguration in which the pair of support columns support the gantrywith the imaging axis in a horizontal orientation; a base having a pairof horizontal guides that extend horizontally along the base, the pairof support columns extending in a vertical direction above a top surfaceof the base, and the pair of support columns, the pair of attachmentmechanisms and the gantry are moveable on the pair of horizontal guidesback and forth along the base; a first drive mechanism that moves thepair of attachment mechanisms and the gantry on the vertical rails upand down along the pair of support columns; a second drive mechanismthat moves the pair of support columns, the pair of attachmentmechanisms and the gantry using the pair of horizontal guides back andforth along the base; and a cavity in the base or the floor that isconfigured to receive the gantry within the cavity while the pair ofsupport columns support the gantry with the imaging axis in a verticalorientation.
 8. The multi-directional x-ray imaging system of claim 7,wherein the cavity is in the base.
 9. The multi-directional x-rayimaging system of claim 8, wherein the cavity is in the floor.
 10. Amulti-directional x-ray imaging system, comprising: a gantry defining acentral imaging bore and an imaging axis extending through the centralimaging bore, with the gantry also having a housing, and an internalcavity; an x-ray source component and an x-ray detector component thatare configured for obtaining x-ray images of a human or animal patientlocated within the central imaging bore of the x-ray imaging system,where the x-ray source component and the x-ray detector component arelocated within the housing of the gantry and are rotatable around thehousing of the gantry, within the internal cavity, without the x-raysource component and the x-ray detector component entering into thecentral imaging bore; a support column supporting the gantry, with thesupport column having at least one vertical rail that extends verticallyalong the support column; an attachment mechanism located between oneside of the gantry and the support column, the attachment mechanismmating with the at least one vertical rail of the support column so thatthe attachment mechanism and the gantry are moveable on the at least onevertical rail up and down along the support column, the attachmentmechanism also attaching to one side of the gantry via a bearingassembly that allows the gantry to pivot with respect to the supportcolumn between a first configuration in which the support columnsupports the gantry with the imaging axis in a vertical orientation, anda second configuration in which the support column supports the gantrywith the imaging axis in a horizontal orientation; a base having ahorizontal guide that extends horizontally along the base, the singlesupport column extending in a vertical direction above a top surface ofthe base and the support column, attachment mechanism and gantry aremovable on the horizontal guide back and forth along the base, a firstdrive mechanism that moves the attachment mechanism and the gantry onthe at least one vertical rail up and down along the support column; asecond drive mechanism that moves the support column, attachmentmechanism and gantry using the horizontal guide back and forth along thebase; and a cavity in the base or the floor that is configured toreceive the gantry within the cavity while the support column supportsthe gantry with the imaging axis in a vertical orientation.
 11. Themulti-directional x-ray imaging system of claim 10, wherein the cavityis in the base.
 12. The multi-directional x-ray imaging system of claim10, wherein the cavity is in the floor.